Force/position output feedback tracking control of holonomically constrained rigid bodies

In this note a new concept of force/position control approach for holonomically constrained rigid body systems is introduced. With this force control approach, the forces of the mechanical constraints between the rigid bodies as well as the forces of the constraints when the system's end effector interacting with the environment are to be directly controlled to desired trajectories. Our force control strategy is based on the use of a new dynamic model for constrained rigid body systems that determines the equations of the mechanical constraints between the elements of the constrained rigid body system in closed form. Our controller for the rigid body system during constrained motion ensures exponential position, end effector contact force and mechanical force tracking, and requires only position measurements.